SE539051C2 - Sensor detection management - Google Patents

Abstract

26 SUMMARY Method (500) and calculation unit (110), for determining a systematic deviation sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this determined systematic deviation sensor detection. The method (500) includes receiving (501) a sensor detection associated with the geographic location, from a vehicle sensor (120); comparing (502) the received (501) sensor detection with previously received sensor detections at the same geographic location; determining (503) a systematic deviation for sensor detections associated with the geographical position; transmission (504) of a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection. (Pubi. Fig. Zß)

Description

The invention relates to a method and a calculation unit in a vehicle. More particularly, the invention provides a mechanism for handling systematic deviating sensor detections made at a certain geographical position.

BACKGROUND A vehicle sometimes includes a driver assistance system including sensors such as radar, cameras, and similar types of sensors that identify objects around the vehicle, such as road lines, signs, pedestrians, and other surrounding vehicles.

In this context, vehicles refer to, for example, lorries, lorries, transport vehicles, passenger cars, emergency vehicles, vehicles, buses, motorcycles, fire engines, amphibious vehicles, boats, aircraft helicopters or other similar motorized or unmanned means of transport, adapted for geographical transport to land, at sea or in the air.

These sensors are seldom perfect and can therefore give off false detections of objects, or give objects incorrect properties so that, for example, a road sign interprets a person. This can have fatal consequences where a driver assistance system in the vehicle makes incorrect decisions. For example, such a false detection of the person in front of the roadway could generate an unwanted, and for the driver and fellow road users, most likely highly unexpected emergency braking, initiated by the driver assistance system.

Such action is not only unpleasant for the driver but can also generate accidents when surrounding road users are surprised by sudden and unexpected vehicle maneuvers. Furthermore, the vehicle's transport time can be extended, fuel consumption increased and emissions of emissions increased in the event of repeated unexpected emergency braking of the above types.

Another safety hazard is that the driver simply gets tired of imperfections in the sensors and driver assistance systems and therefore disconnects or ignores this, which can pose a safety risk if a truly unexpected obstacle, such as a moose or other game, suddenly appears in front of the vehicle.

Another shortcoming of driving with existing driver assistance systems is that they react with warning and / or regulatory action in the event of, for example, violation of one-line markings on the road, even in cases where this is unavoidable to be able to drive the vehicle on the relevant road section, for example due to road work , repainting of the line marking or the like. In this case, the driver of the vehicle is employed by warning or regulatory measures unnecessarily, which further lowers the driver's confidence in the driver assistance system.

It can be stated that much remains to be done to improve sensors and driver assistance systems in vehicles.

SUMMARY OF THE INVENTION It is therefore an object of this invention to improve the reliability of a driver assistance system in a vehicle, in order to solve at least some of the above problems and thereby achieve a vehicle improvement.

According to a first aspect of the invention, this object is achieved by a method in a calculation unit, for determining a systematically deviating sensor detection at a geographical position and informing a driver assistance system in a vehicle of this determined systematically deviating sensor detection. The method includes receiving a sensor detection associated with the geographic location, from a vehicle sensor. Furthermore, the method also comprises comparing the received sensor detection with previously received sensor detections at the same geographic position. Thereafter, a systematic deviation is determined for sensor detections associated with the geographical position. when such a systematic deviation is determined, a notification of this systematic deviation is sent for sensor detection at the geographical position to the driver assistance system in the vehicle, thereby enabling a suppression of this systematically deviating sensor detection.

According to a second aspect of the invention, this object is achieved by a calculation unit, arranged to determine a systematically deviating sensor detection wide geographical position and also to inform a driver assistance system in a vehicle of this determined systematically deviating sensor detection. The calculation unit comprises a receiving circuit, arranged to receive a sensor detection associated with the geographical position of a vehicle sensor. The calculation unit also comprises a processor circuit which is arranged to compare the received sensor detection with previously received sensor detections at the same geographical position, and is also arranged to determine a systematic deviation of pre-sensor detections associated with the geographical position. Furthermore, the calculation unit also comprises a transmitting circuit, arranged to transmit a notification of the systematic deviation for sensor detections at the geographical position of the driver assistance system in the vehicle, in order thereby enabling a suppression of this systematically deviating sensor detection.

By collecting information about objects found by at least one sensor and compiling the properties of these found objects, such as type of object, geographical position, size, etc., one can draw conclusions about the sensor detection of the object. Sensor detections that can be considered incredible according to certain criteria, such as stagnant moose found in an urban environment for a long time, can in all probability be classified as fault detections. This information can then be communicated to vehicles approaching an identified false target and the driver assistance functions can take this into account and suppress the warning or action from the driver assistance system at this geographical position.

However, in some embodiments, information can also be used to suppress warnings or for action when the vehicle exceeds a line marking on the road. Even if the sensor detection of the line marking itself is correct, conditions in this particular section of road can mean that many vehicles still exceed the line marking. This can be detected by studying accident statistics for sites with elevated warning statistics. If an elevated accident statistic is not present on the relevant road section, it can be concluded that the elevated warning statistic is either the result of fault markings on road markings or that the vehicles for some natural reason do not follow the line marking on the road but still do not expose themselves to increased danger. incorrectly placed line marking or vehicle simply takes the turn in a certain curve and then exceeds a line marking.

By suppressing such unnecessary warnings for line violations or fault detections, a driver assistance system can be obtained that generates fewer erroneous or unnecessary warnings / interventions, which leads to increased traffic safety due to predictability in the vehicle's behavior for the driver as well as for fellow road users, but also for increased acceptance. irritation and less likely the driver to ignore warnings from the driver assistance system, or disconnect this. This achieves an improvement of the vehicle.

Other advantages and additional features will become apparent from the following detailed description of the invention.

LIST OF FIGURES The invention will now be described in further detail with reference to the accompanying figures, which illustrate different embodiments of the invention: Figure 1 illustrates an embodiment of a vehicle according to an embodiment. Figure 2A illustrates an embodiment of the invention. Figure 2B illustrates an embodiment of the invention.

Figure 2C illustrates an embodiment of the invention. Figure 3 illustrates an embodiment of the invention. Figure 4 illustrates an embodiment of the invention. Figure 5 shows a flow chart illustrating an embodiment of the invention. Figure 6 is an illustration of a calculation unit in a system, according to a embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION The invention is defined as a method and a computing unit for determining a systematic deviating sensor detection at a geographical position and notifying a driver assistance system in a vehicle of this established systematic deviating sensor detection, which can be realized in any of the embodiments below. However, this invention may be embodied in many different forms and should not be construed as limited to the embodiments described herein, which are instead intended to illustrate and illustrate various aspects of the invention.

Additional aspects and features of the invention may become apparent from the following detailed description when considered in conjunction with the accompanying figures. However, the figures are to be considered only as examples of different embodiments of the invention and are not to be construed as limiting the invention, which is limited only by the appended claims. Furthermore, the figures are not necessarily to scale, and are, unless otherwise specifically indicated, intended to conceptually illustrate aspects of the invention.

Figure 1 shows a vehicle 100. The vehicle 100 can be, for example, stationary, prepared for a planned movement in a certain direction of travel 105, be in motion in the direction of travel 105 or be in motion in the opposite direction, i.e. reverse.

At least one sensor 120 is mounted on or in the vehicle 100, which is arranged to detect an object 125.

The sensor 120 may include, or consist of, for example, a radar meter, a laser meter such as a LightDetection And Ranging (LIDAR), sometimes also called a LADAR or laser radar, a camera such as a Time-of-Flight camera (ToF camera), a stereo camera, a light field camera, a rangefinder based on ultrasonic waves or similar device configured for distance assessment.

A LIDAR is an optical measuring instrument that measures the properties of reflected light to find the distance (and / or other properties) to a remote object 125. The technology is very similar to radar, (Radio Detection and Ranging), but instead of radio waves is used light. Typically, the distance to an object125 is measured by measuring the time delay between a transmitted laser pulse and the recorded reflex.

A Time-of-Flight camera (ToF camera) is a camera system that takes a sequence of images and measures a distance to an object 125 based on the known speed of light, by measuring the time required for a light signal between the camera and the object125.

Furthermore, the vehicle 100 may include several sensors 120 in certain embodiments. These can be of the same type or of different types according to different embodiments.

An advantage of having more than one sensor 120 is that a more reliable distance assessment can be made.

The sensor 120, or the sensors, can advantageously be placed on the inside of the vehicle, as inside the wheelhouse, where it is better protected against external damage, theft and damage as well as dirt, sleet and the like. Thereby, the reliability of the sensor 120 can be improved and the life of the sensor 120 can be extended.

Alternatively, the sensor 120 may be located high up on the outside of the vehicle near the vehicle roof. As a result, the range of the sensor can be extended, which means that object 125 can be detected at a longer distance, which means that the driver is given a longer reaction time to brake or make an evasive maneuver, in case object 125 is a suddenly appearing person or game in the roadway.

The object 125 can be any object, such as another vehicle, one-way sign, a wall, a property, a tree, a pedestrian, an animal or the like. It is irrelevant to the invention whether the object 125 is in motion or stationary. The invention is also independent of whether the own vehicle 100 is stationary or in motion.

By having information collected about objects 125 found by at least sensor 120 and the properties of these objects found, such as object type, geographical position, size, etc. to a computer system that can be, for example, local (in vehicle 100) or central, conclusions can be drawn about objects 125. Objects 125 that can be considered incredible, for example a stagnant moose found in an urban environment for a long time, can be classified as error detections with a high probability. This information can then be communicated to vehicles approaching the sight identified false target and the driver assistance functions can take this into account and suppress the warning / action at this geographical position.

For example, a certain road sign 125 may regularly, for a long time, detect as a pedestrian by the sensor 120 a vehicle 100, or several different vehicles passing on a motorway. As a pedestrian is very rarely stationary for a long time next to a motorway, the system can conclude that this is a false detection and notify the arriving vehicle passing the sign 125, thus avoiding erroneous interventions or warnings from the vehicle assistance system.

However, in some embodiments, information may also be used to provide suppression warnings and / or accidental interventions when the vehicle 100 exceeds a road marking. Such a warning for exceeded line markings is sometimes called a Lane Departure Warning (LDW warning). Sometimes, for example, when collected statistical data point to places with clear elevation warning statistics without a corresponding increase in accident statistics, it can be concluded that the elevated warning statistics are either the result of incorrect detections of road markings, or that the vehicles for some reason do not follow the line marking. for increased danger, due to, for example, road grazing, unclear or incorrectly placed line marking or that vehicles simply often take the turn in a certain curve and then exceed a line marking.

By suppressing such unnecessary warnings for line violations or fault detections, a driver assistance system can be obtained which generates fewer erroneous, redundant or unnecessary warnings / interventions, leading to increased driver acceptance, less irritation and less likelihood of the driver ignoring warnings from the driver assistance system. .

The invention can be practiced in a number of different forms, for example detectors from sensors in a plurality of vehicles can be compiled in a central database, and information regarding systematically deviating sensor detections at a certain geographical position are sent to vehicles approaching this geographical position. Examples based on this embodiment are explained in more detail in connection with the presentation of Figures 2A-2C.

In some embodiments, sensor detections are made by one or more sensors 120 in a single vehicle 100, which are stored and analyzed locally in a database in the vehicle 100 and then used locally in the vehicle 100 the next time it approaches a certain geographic position where a systematically deviating sensor detection has been found. . Examples based on this embodiment are explained in more detail in connection with the presentation of Figure 3.

In some embodiments, sensor detections are made by one or more sensors 120 in one vehicle 100, which are stored and analyzed locally in a database in the vehicle 100 and, when systematic deviating sensor detection is found, information about this is sent to one or more other vehicles in the vicinity via short-range communication. as it approaches the current geographical position. Examples based on this embodiment are explained in more detail in connection with the presentation of Figure 4.

Figure 2A shows an embodiment of the invention. The sensor 120 in a first vehicle 100-1 detects an object 125, in this case a road sign. This sensor detection is sent via a wireless interface to a computing unit 110, which is centrally located, or accessible for access by a plurality of vehicles. An example of this is the vehicle manufacturer's supplier portal, or other database accessible via the Internet. The calculation unit 110 can then perform calculations on collected sensor detections and detect systematic deviations, from which it can be concluded that sensor detections at a certain geographical position are probably incorrect, or should be suppressed. . This information can then be sent out to all vehicles; to all vehicles connected to such a service, for example such as subscribers; to vehicles located in the vicinity of the geographical position where the systematically deviating sensor detection has been made or to a certain specific vehicle 100-2, in different embodiments.

Figure 2B shows an embodiment of the invention similar to that shown in Figure 2A but illustrated from a driver's perspective from inside the first vehicle 100-1.

The sensor 120 detects an object 125, here a road sign; an information taken from the local driver assistance system 130-1, but interpreted as a deer, which can be visually illustrated to the driver on a screen 135, in certain embodiments. This information can then be transmitted via a transmitter 140-1 in the vehicle 100-1 to the computing unit 110 over a wireless interface.

Such a wireless interface may, for example, be based on one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Ratings for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA) , (CDMA 2000), Time Division Synchrono-us CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, ( NFC), or similar communication technology according to different embodiments.

The sensor 120 and the driver assistance system 130-1 are arranged to communicate with each other to receive signals and measured values and possibly also to trigger a measurement, for example at a certain time interval. The communication between the sensor 120, the driver assistance system 130-1 and / or the transmitter 140-1 can also be done over the wireless interface in certain embodiments. In other embodiments, this communication may be made over a tree-bound interface, comprising a communication bus system consisting of one or more communication buses for interconnecting a number of electronic controllers (ECUs), or controllers / controllers, and various locators located on the vehicle 100. components and sensors 120.

The communication bus of the vehicle may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or any other bus configuration.

The calculation unit 110 receives data collected by the sensor 120 and also other information associated with collected data, for example geographical location. The geographical position of the sensor detection can be determined, for example, by a satellite navigation system such as the Global Positioning System (GPS), Galileo, GLONASS or the like, which may be present in the vehicle 100, or for example in the driver's mobile phone. The geographical position can alternatively also be determined by triangulation of radio signals sent from radio base stations with known geographical positions; by a sensor detection; by information from the vehicle's trip meter and / or by manually entering the vehicle's driver.

The computing unit 110 analyzes the received sensor detection by comparing it with previously received sensor detections at the same geographical location, in order to find a systematic deviation from what can be expected. Examples of when a systematic deviation for sensor detections associated with the geographical position can be determined may be when stagnant game is found in a large city by a number of sensor detections exceeding a certain predetermined limit value, or when a percentage of all sensor detections exceeding one certain predetermined limit value is reached. Another example could be when sensor detections indicate a stationary pedestrian in the middle of a motorway, a building located in the middle of a motorway and the like.

For example, the analysis in the computing unit 110 may include mapping to a single table with established limit values that reflect the probability that a certain sensor detection will occur. A non-exhaustive example of this is shown in Table 1. All specified limit values are to be regarded only as arbitrary examples of limit values.environmental type sensor detection limit valueCity environment wild 5Motorway Stagnant per- 30sonMotorway Building on the carriageway 10nanTabe || deviation for sensor detections, the encounter phase can be when a comparison between sensor signals indicating a warning violation at a certain geographical position does not correspond to an increased accident frequency at this position. 12 Geographical position- A number of warning- B Number of accidents / Limit value Gtion ar / time period time period (ratio B / A <G) N 57 ° 41 '48.34 "572 0 0.01 E 11 ° 55' 12.4" N 42 ° 36 ' 12.8 "15 35 0.1 E 35 ° 22 '8.86" N 63 ° 39' 12.5 "39 0 0.01 E 45 ° 45 '75.27" Table 2 Another example of where systematic deviation for sensor detections can be found can be when a comparison between sensor signals made in the vehicle 100-1 differs from detections made by a reference sensor, which during manual monitoring is registered for, for example, fixed objects surrounding a roadway such as road signs, lighting poles, telephone poles and similar objects 125. Also in this embodiment it is conceivable to enter a limit value to avoid suppressing a warning for a pedestrian in the roadway, which stands right next to, for example, a road sign, see non-limiting examples in Table 3.

Geographical position reference Sensor detection / boundary station time unit N 57 ° 41 '48.34 "road sign 5 moose 5 E 11 ° 55' 12.4" N 42 ° 36 '12.8 "road sign pedestrian 50 E 35 ° 22' 8.86" N 63 ° 39 '12.5 " Lighting pole Tractor 20 13 E 45 ° 45 '75.27 "Table 3 When a systematic deviation can be determined at a geographical position, for example one of the criteria described above, the calculation unit 110 can send notification of the systematic deviation for sensor detections at the denographic position to the driver assistance system 130-2 in the second vehicle 100-2, to thereby enable a suppression of this systematically deviating sensor detection, as illustrated in Figure 2C.

Such notification can be sent wirelessly to the other vehicle 100-2 and received by a receiver 140-2 in this vehicle 100-2. Such a wireless interface may, for example, be based on any of the following technologies: Global System for MobileCommunications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA 2000), Time Division Synchronous CDMA (TD-SCDMA), LongTerm Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC ), or similar communication technology according to different embodiments.

The notification can be sent to all vehicles 100, to all vehicles 100 that are adjacent to the geographical position, to all vehicles 100 that are registered or subscribed to a certain service that provides this information, or as a directed notification to a specific vehicle 100-2 according to different embodiments.

According to certain other embodiments, such notification may instead be sent to the other vehicle 100-2 through a software update, over a wireless or wired interface. As a result, systematically deviating sensor detections can be suppressed in the second vehicle 100-2. Figure 3 shows an embodiment of the invention where the sensor 120, as well as the calculation unit 110, are located in the same vehicle 100 illustrated from a driver's perspective from inside the vehicle 100.

The sensor 120 detects an object 125, here a road sign; an information taken by the local driver assistance system 130, but interpreted as a deer, which can be visually illustrated to the driver on a screen 135, in certain embodiments. This information can then be transmitted to the computing unit 110 over a wireless or wired interface, as exemplified above.

This embodiment can be used, for example, in a vehicle 100 which runs along road sections with a certain regularity, for example a city bus which runs along a certain fixed line.

When the calculation unit 110 finds that a systematic deviation can be determined by comparing the sensor detection made with previously made sensor detections at the same geographical position.

When such a systematic deviation can be determined, for example by applying any of the criteria described above, this information is sent to the vehicle driver assistance system 130 to suppress a warning called for by this sensor detection. In some embodiments, an action initiated from the vehicle driver assistance system 130 may be suppressed.

Figure 4 shows an embodiment of the invention where the sensor 120, as well as the calculation unit 110, is located in the same first vehicle 100-1, but where a transmission of a notification of the systematic deviation for sensor detections at the denographic position to the driver assistance system 130 in a second vehicle 100- 2, to thereby enable a suppression of this systematically deviating sensor detection.

Such transmission may alternatively be made over a wireless interface, for example any of those exemplified above, to all vehicles within range of the wireless transmission; to all vehicles adjacent to the geographical position; to a vehicle 100-2 connected to a service that provides these detections of systematically deviating sensor detection.

Figure 5 illustrates an example of an embodiment of the invention. The flow chart in Figure 5 illustrates a method 500 in a computing unit 110, for determining a systematically deviating sensor detection at a geographic position and notifying a driver assistance system 130 in a vehicle 100 of this determined systematically deviating sensor detection.

The computing unit 110 may be located in the vehicle 100, in another vehicle, or outside the vehicle 100, available for communication with a plurality of vehicles.

In order to be able to determine the systematic deviating sensor detection in a correct way, the method 500 may comprise a number of steps 501-504. It should be noted, however, that some of the described steps 501-504 may be performed in a slightly different chronological order than the numerical order suggests and that some of them may be performed in parallel with each other, according to different embodiments. The method 500 comprises the following steps: Step 501 A sensor detection associated with a certain geographical position is received from a vehicle sensor 120. Step 502 The received 501 sensor detection is compared with previously received sensor detections at the same geographical position.

The comparison includes in some embodiments a comparison between warning statistics due to sensor detections at the geographical position and accident statistics for the same geographical position. 16 Step 503 A systematic deviation for sensor detections associated with the geographical position is determined.

The determination of the systematic deviation can in some embodiments be made when an elevated sensor-triggered warning statistic can be established, without elevated accident statistics.

The determination of the systematic deviation for sensor detections associated with the geographical position may in certain embodiments include the determination of the type of vehicle environment at the geographical position, type of sensor detection and a plausibility assessment based on the probability that a certain sensor detection is made in a certain type of vehicle environment.

The determination of the systematic deviation for sensor detections associated with the geographical position may also include an assessment of the consistency of sensor detections and a systematic deviation may be established when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position exceeds a limit value. Step 504 A notification of the systematic deviation for sensor detections at the denographic position is sent to the driver assistance system 130 in the vehicle 100, thereby enabling a suppression of this systematically deviating sensor detection.

The notification of systematic deviation can be sent to the vehicle100 when it is in connection with the geographical position where the fault sensor detection could be determined 503.

In some embodiments, the notification of systematic deviation is made to the vehicle 100 via a software update. Figure 6 shows an embodiment of a system 600 comprising, inter alia, a calculation unit 110, arranged to perform at least parts of the method 500 for determining a systematic deviating sensor detection at a geographical position and notifying a driver assistance system 130 in a vehicle 100 of this determined systematic deviation. sensor detection.

The calculation unit 110 comprises a receiving circuit 610, arranged to receive sensor detection associated with the geographical position from a vehicle sensor 120.

Such signal reception can be done over a wireless interface according to certain embodiments.

For example, the wireless network may be based on one of the following technologies: Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Universal Mobile Telecommunications System (UMTS), Code Division Access (CDMA), (CDMA) 2000), Time Division Synchronous CDMA (TD-SCDMA), Long Term Evolution (LTE); Wireless Fidelity (Wi-Fi), defined by the Institute of Electrical and Electronics Engineers (IEEE) standards 802.11 a, ac, b, g and / or n, Internet Protocol (IP), Bluetooth and / or Near Field Communication, (NFC ), or similar communication technology according to different embodiments.

According to certain other embodiments, the receiving circuit 610, and the sensor 120 are arranged for communication and information transmission over a wired interface. Such wired interface may comprise a communication bus system consisting of one or more communication buses for interconnecting a number of electronic controllers (ECUs), or controllers / controllers, and various components and sensors located on the vehicle 100.

The receiving circuit 610 and said sensor 120 are in turn arranged to communicate partly with each other, in order to receive signals and measured values and possibly also trigger a measurement, for instance at a certain time interval. Furthermore, the receiving circuit 610 and said sensor 120 are arranged to communicate, for example, via the communication bus of the vehicle, which may be constituted by one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Oriented Systems Transport), or any other bus configuration; or by a wireless connection, for example according to any of the wireless communication technologies listed above.

Further, the computing unit 110 includes a processor circuit 620. The processor circuit 620 is arranged to compare the received sensor detection with previously received sensor detections at the same geographical position, and also arranged to determine a systematic deviation for sensor detections associated with the dengeographic position.

The processor circuit 620 may further in certain embodiments be arranged to compare warning statistics due to sensor detections at the geographical position and accident statistics for the same geographical position, and also be arranged to determine a systematic deviation, when an elevated sensor-triggered warning statistic, out-of-height accident statistics can be determined.

The processor circuit 620 may further be arranged to in certain embodiments determine the type of vehicle environment at the geographical position, determine the type of sensor detection, make a plausibility assessment based on the probability that a certain sensor detection is made in a certain type of vehicle environment and determine a systematic deviation for sensor detections associated with the geographical position based on this plausibility assessment.

The processor circuit 620 may further be arranged to assess the consistency of the sensor detections made at the geographical position and arranged to determine a systematic deviation for the sensor detections when a ratio between a first type of sensor detection and a second type of sensor detection for that geographical position exceeds a limit value.

The processor circuit 620 may be, for example, one or more Central Processing Unit (CPU), microprocessor or other logic designed to interpret and execute instructions and / or to read and write data. The processor circuit 620 may handle data for inflow, outflow or data processing of data including including buffering of data, control functions and the like.

The calculation unit 110 further comprises a transmitting circuit 630, arranged to transmit a notification of the systematic deviation of sensor detection at the geographical position of the driver assistance system 130 in the vehicle 100, thereby enabling a suppression of this systematically deviating sensor detection.

The transmitting circuit 630 may in some embodiments be arranged to transmit the notification of the systematic deviation to the vehicle 100 when it is in connection with the geographical position where the erroneous sensor detection could be determined.

The computing unit 110 may further in certain embodiments comprise a memory unit 625 be arranged to store received sensor detection associated with engeographic position. The memory unit 625 may be a storage medium for data, such as a memory card, flash memory, USB memory, hard disk or other similar data storage device, for example, one of the group: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM ( ErasablePROM), Flash memory, EEPROM (Electrically Erasable PROM), etc. in various embodiments.

Furthermore, according to certain embodiments, the invention comprises a computer program predetermining a systematically deviating sensor detection at a geographic location and notifying a driver assistance system 130 in a vehicle 100 of this determined systematically deviating sensor detection by a method 500 according to any of steps 501-504, when the computer program executed in a processor circuit 620 in a computing unit 110.

The method 500 of at least any of the steps 501-504 for determining the systematically deviating sensor detection may be implemented by one or more processor circuits 620 in the computing unit 110 together with computer program code to perform any, some, some or all of the steps 501-504 requested. -written above. Thereby, a computer program including instructions for performing steps 501-504 when the program is loaded into the processor circuit 620.

This computer program described above in the vehicle 100 is in certain embodiments arranged to be installed in the memory unit 625 in the calculation unit 110, for example in addition to a wireless interface as previously described.

The invention further includes in certain embodiments a system 600 for determining a systematically deviating sensor detection at a geographic location and notifying a driver assistance system 130 in a vehicle 100 of this determined systematically deviating sensor detection.

The system 600 includes a vehicle sensor 120, arranged for sensor detection. The system 600 also includes a computing unit 110, as described above. Furthermore, in some embodiments, the system 600 includes a driver assistance system 130.

The vehicle sensor 120 included in the system 600 may include, for example, a single camera, a 3D camera, a radar meter, a laser meter and / or a rangefinder based on ultrasonic waves. Furthermore, the system 600 may include a plurality of vehicle sensors.

In certain embodiments of the system 600, the vehicle sensor 120, the computing unit 110, and the driver assistance system 130 may be located in the same vehicle 100. In other embodiments, the vehicle sensor 120 is located in a first vehicle 100-1 and the driver assistance system 130 in a second vehicle 100-2 while the computing unit 110 may be located in any of these vehicles 100-1, 100-2, or at any position outside these vehicles 100-1, 100-2.

In certain embodiments of the system 600, the computing unit 110 is arranged to communicate wirelessly with the vehicle sensor 120 and the driver assistance system 130, respectively, where the vehicle sensor 120 is located in a first vehicle 100-1, the driver assistance system 130 is located in a second vehicle 100-2. The invention also includes a vehicle 100, including a system 600 for determining a systematically deviating sensor detection at a geographic location.

Claims (19)

A method (500) in a computing unit (110), for determining a systematically deviating sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this determined systematically deviating sensor detection, characterized by: receiving (501) a sensor detection associated with the geographical position, from a vehicle sensor (120); comparing (502) the received (501) sensor detection with previously received sensor detections at the same geographic location; determining (503) a systematic deviation for sensor detections associated with the geographical position, including determining the type of vehicle environment at the geographical position, using sensor detection and a plausibility assessment based on the probability that a particular sensor detection is performed in a certain vehicle, wherein the reasonableness assessment includes a mapping to a single table with established limit values that reflects the probability that a certain sensor detection will occur at this vehicle environment; transmission (504) of a notification of the systematic deviation of sensor detections at the geographical position of the driver assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection. The method (500) of claim 1, wherein the comparing (502) comprises comparing the received sensor detection with previously received sensor detections by a manually monitored reference sensor. 2§. warning statistics due to sensor detections at the geographical The method (500) of claim 1, wherein the comparison (502) comprises a comparison and accident statistics for the same geographical position, and the determination (503) of a systematic deviation is made when an elevated sensor-triggered warning statistic without elevated accident statistics can be determined. The method (500) of any of claims 1-3, wherein the determination (503) of a systemic deviation for sensor detections associated with the geographic location comprises an assessment of the consistency of sensor detections and a systematic deviation is determined (503) when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position exceed a limit value. The method (500) according to any one of claims 1-4, wherein the transmission (504) of the systematic deviation notification is made to the vehicle (100) when it is connected to the geographical position where the erroneous sensor detection could be determined ( 503). The method (500) of any of claims 1-4, wherein the transmission (504) of the systematic deviation notification is made to the vehicle (100) via a software update. Calculation unit (110), for determining a systematic deviation sensor detection at a geographical position and notifying a driver assistance system (130) in a vehicle (100) of this determined systematic deviation sensor detection, wherein the calculation unit (110) is characterized by: a receiving circuit (610), arranged to receive a sensor detection associated with the geographical position of a vehicle sensor (120); a processor circuit (620), arranged to compare the received sensor detection with previously received sensor detections at the same geographical position, and also arranged to determine a systematic deviation for sensor detections associated with the geographical position, and further arranged to determine 24 type of vehicle environment at the the geographic position, determine the type of sensor detection, make a plausibility assessment based on the probability that a particular sensor detection is performed in a particular type of vehicle environment, and determine a systematic deviation from the sensor detections associated with the geographic position based on the relative likelihood. a table with established limit values that reflects the probability that a certain sensor detection occurs at this vehicle environment; a transmitting circuit (630), arranged to transmit a notification of the systematic deviation of sensor detections at the geographical position of the supply assistance system (130) in the vehicle (100), thereby enabling a suppression of this systematically deviating sensor detection. The computing unit (110) according to claim 7, wherein the processor circuit (620) is further arranged to compare the received sensor detection with previously received sensor detections by a manually monitored reference sensor. 82. further arranged to compare warning statistics due to sensor detections on it The calculation unit (110) according to claim 7, wherein the processor circuit (620) is the geographical position and accident statistics for the same geographical position, arranged to determine a systematic deviation, as an elevated sensor-triggered warning statistic, without elevated accident statistics can be determined. Further arranged to assess the consistency of the sensor detections made on the Calculation Unit (110) according to claims 7-9, wherein the processor circuit (620) is the geographical position and arranged to determine a systematic deviation of the sensor detections when a ratio between a first type of sensor detection and a second type of sensor detection for the geographical position exceeds a limit value. 11. (630) is arranged to send the notification of the systematic deviation to the Calculation Unit (110) according to claims 7-10, wherein the transmitting circuit vehicle (100) when this is in connection with the geographical position where the incorrect sensor detection could be determined. Unit (625), arranged to store received sensor detection associated with a Calculation Unit (110) according to claims 7-11, further comprising a memory geographical position. At a geographical location and notifying a driver assistance system (130) in a computer program for determining a systematically deviating sensor detection vehicle (100) of this determined systematically deviating sensor detection by a method (500) according to any one of claims 1-6, wherein the computer program executed in a single processor circuit (620) in a computing unit (110) according to any one of claims 7-12. 14. at a geographical position and notifying a driver assistance system (130) of a System (600) for determining a systematically deviating sensor detection vehicle (100) of said determined systematically deviating sensor detection, the system (600) comprising: a vehicle sensor (120) , arranged for sensor detection, a calculation unit (110) according to any one of claims 7-12. The system (600) of claim 14, wherein the vehicle sensor (120) comprises: a single camera, a 3D camera, a radar meter, a laser meter, a rangefinder based on ultrasonic waves. (120), the calculation unit (110) and the driver assistance system (130) are located in the System (600) according to any of claim 14 or claim 15, wherein the vehicle sensor is the same vehicle (100). 26 Located in a first vehicle (100-1), the driver assistance system (130) is located in a system (600) according to any one of claims 14-16, wherein the vehicle sensor (120) is a second vehicle (100-2) and wherein the calculation unit ( 110) is arranged to communicate wirelessly with the vehicle sensor (120) and the driver assistance system (130), respectively. The calculation unit (110) is located in a first vehicle (100-1), the driver assistance system (600) according to any of claims 14-17, wherein the vehicle sensor (120) and the stem (130) are located in a second vehicle (100). -2) and where the computing unit (110) is arranged to communicate wirelessly with the driver assistance system (130) in the second vehicle (100-2). 19.to determine a systematically deviating sensor detection at a geographical position. A vehicle (100), comprising a system (600) according to any one of claims 14-18, for